Ros2 fix wheels friction #370
Conversation
Signed-off-by: Jakub Delicat <jakub.delicat@husarion.com>
Signed-off-by: Jakub Delicat <jakub.delicat@husarion.com>
Signed-off-by: Jakub Delicat <jakub.delicat@husarion.com>
WalkthroughThe recent changes introduce a Changes
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Review details
Configuration used: .coderabbit.yaml
Review profile: CHILL
Files selected for processing (4)
- panther_description/config/WH01.yaml (1 hunks)
- panther_description/config/WH02.yaml (1 hunks)
- panther_description/config/WH04.yaml (1 hunks)
- panther_description/urdf/wheel.urdf.xacro (1 hunks)
Files skipped from review due to trivial changes (1)
- panther_description/config/WH04.yaml
Additional comments not posted (3)
panther_description/config/WH01.yaml (1)
9-9: LGTM! Verify the usage of the new parameter.The addition of the
mecanumparameter is straightforward and looks good.However, ensure that the new parameter is correctly utilized in the codebase.
panther_description/config/WH02.yaml (1)
9-9: LGTM! Verify the usage of the new parameter.The addition of the
mecanumparameter is straightforward and looks good.However, ensure that the new parameter is correctly utilized in the codebase.
Verification successful
The
mecanumparameter is correctly utilized in the codebase. It is referenced in multiple configuration files and is associated with themecanum_drive_controller.
panther_description/config/WH04.yamlpanther_description/config/WH02.yamlpanther_description/config/WH01.yamlpanther_controller/package.xmlpanther_controller/config/WH02_controller.yamlScripts executed
The following scripts were executed for the analysis:
Script:
#!/bin/bash # Description: Verify the usage of the new parameter `mecanum`. # Test: Search for the usage of the `mecanum` parameter in the codebase. rg --type yaml --type xacro 'mecanum'Length of output: 67
Script:
#!/bin/bash # Description: Verify the usage of the new parameter `mecanum`. # Test: Search for the usage of the `mecanum` parameter in the codebase within YAML and XML files. rg --type yaml --type xml 'mecanum'Length of output: 384
panther_description/urdf/wheel.urdf.xacro (1)
72-86: LGTM! Verify the usage of the new parameter.The modification to use the
mecanumparameter in the conditional logic is well-implemented and looks good.However, ensure that the new parameter is correctly utilized in the codebase.
Verification successful
The new parameter
mecanumis correctly utilized in the codebase.The parameter
mecanumis found in various configuration files and documentation, indicating its consistent use across the project.
panther_description/config/WH04.yaml:mecanum: Falsepanther_description/config/WH02.yaml:mecanum: Truepanther_description/config/WH01.yaml:mecanum: Falsepanther_controller/config/WH02_controller.yaml:type: mecanum_drive_controller/MecanumDriveControllerScripts executed
The following scripts were executed for the analysis:
Script:
#!/bin/bash # Description: Verify the usage of the new parameter `mecanum`. # Test: Search for the usage of the `mecanum` parameter in the codebase. rg --type yaml --type xacro 'mecanum'Length of output: 67
Script:
#!/bin/bash # Description: Verify the usage of the new parameter `mecanum`. # Find all .xacro files and search for the usage of the `mecanum` parameter. fd -e xacro -x rg 'mecanum' {}Length of output: 84
Script:
#!/bin/bash # Description: Verify the usage of the new parameter `mecanum`. # Search for the usage of the `mecanum` parameter across all file types. rg 'mecanum'Length of output: 2324
Description
There was no condition for disabling friction for Y axis of the robot what is needed in mecanum wheels.
Modifications
Summary by CodeRabbit
New Features
mecanumfor various vehicle configurations, allowing for flexible selection of drive capabilities (enabled or disabled).mecanumparameter.Refactor